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fix(autoware_costmap_generator): fix unusedFunction #8641

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merged 1 commit into from
Aug 27, 2024
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fix(autoware_costmap_generator): fix unusedFunction #8641

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23 changes: 0 additions & 23 deletions planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,29 +52,6 @@

namespace object_map
{
/*!
* Publishes in_gridmap using the specified in_publisher
* @param[in] in_gridmap GridMap object to publish
* @param[in] in_publisher Valid Publisher object to use
*/
void PublishGridMap(
const grid_map::GridMap & in_gridmap,
const rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr in_publisher);

/*!
* Convert and publishes a GridMap layer to a standard Ros OccupancyGrid
* @param[in] in_gridmap GridMap object to extract the layer
* @param[in] in_publisher ROS Publisher to use to publish the occupancy grid
* @param[in] in_layer Name of the layer to convert
* @param[in] in_min_value Minimum value in the layer
* @param[in] in_max_value Maximum value in the layer
*/

void PublishOccupancyGrid(
const grid_map::GridMap & in_gridmap,
const rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr in_publisher,
const std::string & in_layer, double in_min_value, double in_max_value, double in_height);

/*!
* Projects the in_area_points forming the road, stores the result in out_grid_map.
* @param[out] out_grid_map GridMap object to add the road grid
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19 changes: 0 additions & 19 deletions planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,26 +36,7 @@
#include <vector>

namespace object_map
{

Check notice on line 39 in planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Excess Number of Function Arguments 

PublishOccupancyGrid is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
void PublishGridMap(
const grid_map::GridMap & in_gridmap,
const rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr in_publisher)
{
auto message = grid_map::GridMapRosConverter::toMessage(in_gridmap);
in_publisher->publish(*message);
}

void PublishOccupancyGrid(
const grid_map::GridMap & in_gridmap,
const rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr in_publisher,
const std::string & in_layer, double in_min_value, double in_max_value, double in_height)
{
nav_msgs::msg::OccupancyGrid message;
grid_map::GridMapRosConverter::toOccupancyGrid(
in_gridmap, in_layer, in_min_value, in_max_value, message);
message.info.origin.position.z = in_height;
in_publisher->publish(message);
}

void FillPolygonAreas(
grid_map::GridMap & out_grid_map,
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